Nonlinear observer with time-varying gains for inertial navigation aided by satellite reference systems in dynamic positioning

Author

Bryne, Torleiv Haland ; Fossen, Thor I. ; Johansen, Tor Arne

Author_Institution

Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway

fYear

2014

fDate

16-19 June 2014

Firstpage

1353

Lastpage

1360

Abstract

The measurement quality of Global Navigation Satellites Systems (GNSS) during marine operations will vary over time. Inherently, GNSS quality changes should be handled when GNSS is utilized as aid in inertial navigation systems. In this paper we present an observer for estimating position, velocity and attitude with time-varying gains for high-performance sensor fusion based on GNSS quality and other quality indicators. The origin of the error dynamics is proven to be uniformly semiglobal exponentially stable. The concept is illustrated by simulating a vessel operating in dynamic positioning with GNSS and inertial sensors.

Keywords

marine vehicles; nonlinear control systems; observers; position control; satellite navigation; time-varying systems; GNSS quality; Global Navigation Satellites Systems; dynamic positioning; error dynamics; exponential stability; high-performance sensor fusion; inertial navigation; marine operations; nonlinear observer; satellite reference systems; time-varying gains; Force; Global Positioning System; Observers; Position measurement; Quaternions; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation (MED), 2014 22nd Mediterranean Conference of

Conference_Location

Palermo

Print_ISBN

978-1-4799-5900-6

Type

conf

DOI

10.1109/MED.2014.6961564

Filename

6961564